Transparency in Port-Hamiltonian-Based Telemanipulation

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

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    After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.
    Original languageUndefined
    Article number10.1109/TRO.2008.924941
    Pages (from-to)903-910
    Number of pages8
    JournalIEEE transactions on robotics
    Issue numberSupplement/4
    Publication statusPublished - Aug 2008


    • EWI-13478
    • IR-64992
    • METIS-251192

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